{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T03:31:07Z","timestamp":1777519867297,"version":"3.51.4"},"reference-count":44,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8968012","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"370-377","source":"Crossref","is-referenced-by-count":108,"title":["Stereo Visual Inertial LiDAR Simultaneous Localization and Mapping"],"prefix":"10.1109","author":[{"given":"Weizhao","family":"Shao","sequence":"first","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Srinivasan","family":"Vijayarangan","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cong","family":"Li","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"George","family":"Kantor","sequence":"additional","affiliation":[{"name":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA,15213"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915620033"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"ref33","doi-asserted-by":"crossref","first-page":"3565","DOI":"10.1109\/ROBOT.2007.364024","article-title":"A multi-state constraint kalman filter for vision-aided inertial navigation","author":"mourikis","year":"2007","journal-title":"Proceedings 2007 IEEE International Conference on Robotics and Automation"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907483"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.006"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979641"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20360"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989203"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696917"},{"key":"ref40","author":"dellaert","year":"2012","journal-title":"Factor Graphs and GTSAM A Hands-on Introduction"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225147"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2793349"},{"key":"ref13","author":"quan","year":"2017","journal-title":"Map-based visual-inertial monocular slam using inertial assisted kalman filter"},{"key":"ref14","first-page":"298","author":"bloesch","year":"2015","journal-title":"Robust Visual Inertial Odometry Using a Direct EKF-Based Approach"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.008"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385458"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.05.001"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487335"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353456"},{"key":"ref28","volume":"1","author":"bouguet","year":"2000","journal-title":"Pyramidal implementation of the Lucas Kanade feature tracker description of the algorithm"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906584"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989618"},{"key":"ref6","volume":"34","author":"leutenegger","year":"2014","journal-title":"Keyframe-based visual-inertial odometry using nonlinear optimization"},{"key":"ref29","first-page":"593","article-title":"Good features to track","author":"shi","year":"1994","journal-title":"1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2853729"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2658577"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594007"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487648"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.007"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICInfA.2015.7279468"},{"key":"ref42","year":"2017","journal-title":"DBoW3 dbow3"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907626"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9327-2"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460653"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385773"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21809"},{"key":"ref43","year":"2015","journal-title":"Cloud-to-Cloud Distance cloudcompare"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460664"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08968012.pdf?arnumber=8968012","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,5]],"date-time":"2025-09-05T18:08:27Z","timestamp":1757095707000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8968012\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":44,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8968012","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}